Urban localization with camera and inertial measurement unit
Next generation driver assistance systems require precise self localization. Common approaches using global navigation satellite systems (GNSSs) suffer from multipath and shadowing effects often rendering this solution insufficient. In urban environments this problem becomes even more pronounced. He...
Gespeichert in:
Hauptverfasser: | , , , |
---|---|
Format: | Tagungsbericht |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
container_end_page | 724 |
---|---|
container_issue | |
container_start_page | 719 |
container_title | |
container_volume | |
creator | Lategahn, Henning Schreiber, Markus Ziegler, Julius Stiller, Christoph |
description | Next generation driver assistance systems require precise self localization. Common approaches using global navigation satellite systems (GNSSs) suffer from multipath and shadowing effects often rendering this solution insufficient. In urban environments this problem becomes even more pronounced. Herein we present a system for six degrees of freedom (DOF) ego localization using a mono camera and an inertial measurement unit (IMU). The camera image is processed to yield a rough position estimate using a previously computed landmark map. Thereafter IMU measurements are fused with the position estimate for a refined localization update. Moreover, we present the mapping pipeline required for the creation of landmark maps. Finally, we present experiments on real world data. The accuracy of the system is evaluated by computing two independent ego positions of the same trajectory from two distinct cameras and investigating these estimates for consistency. A mean localization accuracy of 10 cm is achieved on a 10 km sequence in an inner city scenario. |
doi_str_mv | 10.1109/IVS.2013.6629552 |
format | Conference Proceeding |
fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6629552</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6629552</ieee_id><sourcerecordid>6629552</sourcerecordid><originalsourceid>FETCH-LOGICAL-i217t-3e03799b4af96357f6a5b683ebaaf35826ab3fe5587dc2aae11d6837ca85c62b3</originalsourceid><addsrcrecordid>eNotj01LxDAURaMo2BndC27yB1rzkiZpwI0MfgwMuNBxO7y0rxhpM5JmEP31FpzVXdzD5VzGrkFUAMLdrt9fKylAVcZIp7U8YQuojVXS6tqdskKaWpZWQn3GCnAKSqEbe8EW0_QpxMxLKNjdNnmMfNi3OIRfzGEf-XfIH7zFkRJyjB0PkVIOOPCRcDokGilmfoghX7LzHoeJro65ZNvHh7fVc7l5eVqv7jdlkGBzqUgo65yvsXdGadsb1N40ijxir3QjDXrVk57tulYiEkA317bFRrdGerVkN_-7gYh2XymMmH52x9fqD_ADSc4</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Urban localization with camera and inertial measurement unit</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Lategahn, Henning ; Schreiber, Markus ; Ziegler, Julius ; Stiller, Christoph</creator><creatorcontrib>Lategahn, Henning ; Schreiber, Markus ; Ziegler, Julius ; Stiller, Christoph</creatorcontrib><description>Next generation driver assistance systems require precise self localization. Common approaches using global navigation satellite systems (GNSSs) suffer from multipath and shadowing effects often rendering this solution insufficient. In urban environments this problem becomes even more pronounced. Herein we present a system for six degrees of freedom (DOF) ego localization using a mono camera and an inertial measurement unit (IMU). The camera image is processed to yield a rough position estimate using a previously computed landmark map. Thereafter IMU measurements are fused with the position estimate for a refined localization update. Moreover, we present the mapping pipeline required for the creation of landmark maps. Finally, we present experiments on real world data. The accuracy of the system is evaluated by computing two independent ego positions of the same trajectory from two distinct cameras and investigating these estimates for consistency. A mean localization accuracy of 10 cm is achieved on a 10 km sequence in an inner city scenario.</description><identifier>ISSN: 1931-0587</identifier><identifier>EISSN: 2642-7214</identifier><identifier>EISBN: 1467327549</identifier><identifier>EISBN: 9781467327541</identifier><identifier>EISBN: 9781467327558</identifier><identifier>EISBN: 1467327557</identifier><identifier>DOI: 10.1109/IVS.2013.6629552</identifier><language>eng</language><publisher>IEEE</publisher><subject>Accuracy ; Cameras ; Global Positioning System ; Measurement by laser beam ; Robustness ; Three-dimensional displays ; Trajectory</subject><ispartof>2013 IEEE Intelligent Vehicles Symposium (IV), 2013, p.719-724</ispartof><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6629552$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>310,311,782,786,791,792,2062,27934,54929</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6629552$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Lategahn, Henning</creatorcontrib><creatorcontrib>Schreiber, Markus</creatorcontrib><creatorcontrib>Ziegler, Julius</creatorcontrib><creatorcontrib>Stiller, Christoph</creatorcontrib><title>Urban localization with camera and inertial measurement unit</title><title>2013 IEEE Intelligent Vehicles Symposium (IV)</title><addtitle>IVS</addtitle><description>Next generation driver assistance systems require precise self localization. Common approaches using global navigation satellite systems (GNSSs) suffer from multipath and shadowing effects often rendering this solution insufficient. In urban environments this problem becomes even more pronounced. Herein we present a system for six degrees of freedom (DOF) ego localization using a mono camera and an inertial measurement unit (IMU). The camera image is processed to yield a rough position estimate using a previously computed landmark map. Thereafter IMU measurements are fused with the position estimate for a refined localization update. Moreover, we present the mapping pipeline required for the creation of landmark maps. Finally, we present experiments on real world data. The accuracy of the system is evaluated by computing two independent ego positions of the same trajectory from two distinct cameras and investigating these estimates for consistency. A mean localization accuracy of 10 cm is achieved on a 10 km sequence in an inner city scenario.</description><subject>Accuracy</subject><subject>Cameras</subject><subject>Global Positioning System</subject><subject>Measurement by laser beam</subject><subject>Robustness</subject><subject>Three-dimensional displays</subject><subject>Trajectory</subject><issn>1931-0587</issn><issn>2642-7214</issn><isbn>1467327549</isbn><isbn>9781467327541</isbn><isbn>9781467327558</isbn><isbn>1467327557</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj01LxDAURaMo2BndC27yB1rzkiZpwI0MfgwMuNBxO7y0rxhpM5JmEP31FpzVXdzD5VzGrkFUAMLdrt9fKylAVcZIp7U8YQuojVXS6tqdskKaWpZWQn3GCnAKSqEbe8EW0_QpxMxLKNjdNnmMfNi3OIRfzGEf-XfIH7zFkRJyjB0PkVIOOPCRcDokGilmfoghX7LzHoeJro65ZNvHh7fVc7l5eVqv7jdlkGBzqUgo65yvsXdGadsb1N40ijxir3QjDXrVk57tulYiEkA317bFRrdGerVkN_-7gYh2XymMmH52x9fqD_ADSc4</recordid><startdate>201306</startdate><enddate>201306</enddate><creator>Lategahn, Henning</creator><creator>Schreiber, Markus</creator><creator>Ziegler, Julius</creator><creator>Stiller, Christoph</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201306</creationdate><title>Urban localization with camera and inertial measurement unit</title><author>Lategahn, Henning ; Schreiber, Markus ; Ziegler, Julius ; Stiller, Christoph</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i217t-3e03799b4af96357f6a5b683ebaaf35826ab3fe5587dc2aae11d6837ca85c62b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Accuracy</topic><topic>Cameras</topic><topic>Global Positioning System</topic><topic>Measurement by laser beam</topic><topic>Robustness</topic><topic>Three-dimensional displays</topic><topic>Trajectory</topic><toplevel>online_resources</toplevel><creatorcontrib>Lategahn, Henning</creatorcontrib><creatorcontrib>Schreiber, Markus</creatorcontrib><creatorcontrib>Ziegler, Julius</creatorcontrib><creatorcontrib>Stiller, Christoph</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library Online</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lategahn, Henning</au><au>Schreiber, Markus</au><au>Ziegler, Julius</au><au>Stiller, Christoph</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Urban localization with camera and inertial measurement unit</atitle><btitle>2013 IEEE Intelligent Vehicles Symposium (IV)</btitle><stitle>IVS</stitle><date>2013-06</date><risdate>2013</risdate><spage>719</spage><epage>724</epage><pages>719-724</pages><issn>1931-0587</issn><eissn>2642-7214</eissn><eisbn>1467327549</eisbn><eisbn>9781467327541</eisbn><eisbn>9781467327558</eisbn><eisbn>1467327557</eisbn><abstract>Next generation driver assistance systems require precise self localization. Common approaches using global navigation satellite systems (GNSSs) suffer from multipath and shadowing effects often rendering this solution insufficient. In urban environments this problem becomes even more pronounced. Herein we present a system for six degrees of freedom (DOF) ego localization using a mono camera and an inertial measurement unit (IMU). The camera image is processed to yield a rough position estimate using a previously computed landmark map. Thereafter IMU measurements are fused with the position estimate for a refined localization update. Moreover, we present the mapping pipeline required for the creation of landmark maps. Finally, we present experiments on real world data. The accuracy of the system is evaluated by computing two independent ego positions of the same trajectory from two distinct cameras and investigating these estimates for consistency. A mean localization accuracy of 10 cm is achieved on a 10 km sequence in an inner city scenario.</abstract><pub>IEEE</pub><doi>10.1109/IVS.2013.6629552</doi><tpages>6</tpages><oa>free_for_read</oa></addata></record> |
fulltext | fulltext_linktorsrc |
identifier | ISSN: 1931-0587 |
ispartof | 2013 IEEE Intelligent Vehicles Symposium (IV), 2013, p.719-724 |
issn | 1931-0587 2642-7214 |
language | eng |
recordid | cdi_ieee_primary_6629552 |
source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Accuracy Cameras Global Positioning System Measurement by laser beam Robustness Three-dimensional displays Trajectory |
title | Urban localization with camera and inertial measurement unit |
url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-03T13%3A51%3A03IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Urban%20localization%20with%20camera%20and%20inertial%20measurement%20unit&rft.btitle=2013%20IEEE%20Intelligent%20Vehicles%20Symposium%20(IV)&rft.au=Lategahn,%20Henning&rft.date=2013-06&rft.spage=719&rft.epage=724&rft.pages=719-724&rft.issn=1931-0587&rft.eissn=2642-7214&rft_id=info:doi/10.1109/IVS.2013.6629552&rft_dat=%3Cieee_6IE%3E6629552%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=1467327549&rft.eisbn_list=9781467327541&rft.eisbn_list=9781467327558&rft.eisbn_list=1467327557&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6629552&rfr_iscdi=true |